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use crate::math::{Isometry, Vector};
use crate::pipeline::narrow_phase::{ProximityDetector, ProximityDispatcher};
use crate::query::algorithms::VoronoiSimplex;
use crate::query::{self, Proximity};
use crate::shape::Shape;
use na::{RealField, Unit};
#[derive(Clone)]
pub struct SupportMapSupportMapProximityDetector<N: RealField> {
simplex: VoronoiSimplex<N>,
sep_axis: Option<Unit<Vector<N>>>,
}
impl<N: RealField> SupportMapSupportMapProximityDetector<N> {
pub fn new() -> SupportMapSupportMapProximityDetector<N> {
SupportMapSupportMapProximityDetector {
simplex: VoronoiSimplex::new(),
sep_axis: None,
}
}
}
impl<N: RealField> ProximityDetector<N> for SupportMapSupportMapProximityDetector<N> {
#[inline]
fn update(
&mut self,
_: &dyn ProximityDispatcher<N>,
ma: &Isometry<N>,
a: &dyn Shape<N>,
mb: &Isometry<N>,
b: &dyn Shape<N>,
margin: N,
) -> Option<Proximity> {
let sma = a.as_support_map()?;
let smb = b.as_support_map()?;
let res = query::proximity_support_map_support_map_with_params(
ma,
sma,
mb,
smb,
margin,
&mut self.simplex,
self.sep_axis,
);
if res.0 != Proximity::Intersecting {
self.sep_axis = Some(res.1);
} else {
self.sep_axis = None;
}
Some(res.0)
}
}